- GOTO SCREEN begin
*>SCREEN begin
- HOT KEY (10) "" INTERRUPT: GOSUB LABEL helpsys
- GET NUMBER BACKGROUND STYLE SETUP: 2
- POWER RESUME ON
- GOTO SCREEN startup
  
*>SCREEN startup
- PUT TEXT AT (1,5): "This program is specifically designed to"
- PUT TEXT AT (6,6): "control the Industrial Drives"
- PUT TEXT AT (11,7): "Goldline Positioner."
- PUT LARGE TEXT AT (2,1): "INDUSTRIAL DRIVES"
- PUT LARGE TEXT AT (2,2): "BDS5 DEMO PROGRAM"
- DELAY 2000
- GOTO SCREEN testbds
  
- TITLE:::::::::: "INITIALIZE BDS5" ::::::::::::
*>SCREEN testbds
- PUT TEXT AT (6,1): "SETTING UP DEFAULT VALUES FOR "
- PUT TEXT AT (8,2): "THE GOLDLINE POSITIONER."
- PUT LARGE TEXT AT (2,3): "PLEASE STAND BY..."
  pitch=5
  onerev=4096
  dis&=onerev
  dir%=1
- COMMENT "DISTANCE IN NUMBER OF STEPS"
  dscale=1
  dis&=16384             
  dlbl$="STEPS"
- COMMENT "VELOCITY IN STEPS/SEC"
  vscale=68.27
  vd&=1000
  vlbl$="STEPS/SEC"
- COMMENT "ACCELERATION IN STEPS/S^2"
  ascale=68.27
  ad&=40960
  albl$="STEPS/SEC^2"
- COM: INIT COM 1 ECHO 0 BAUD 96 HANDSHAKE 0 TIMEOUT 100 STRIP 1
- DELAY 750
- COM: PUT COM 1 TEXT "PROMPT OFF"
- DELAY 25
- COM: PUT COM 1 TEXT "PLIM OFF"
- DELAY 25
- COM: PUT COM 1 TEXT "VDEFAULT = 1000"
- DELAY 25
- COM: PUT COM 1 TEXT "AMAX 32750"
- DELAY 25
- COM: PUT COM 1 TEXT "ACC 15000"
- DELAY 25
- COM: PUT COM 1 TEXT "EN"
- DELAY 25
- COM: PUT COM 1 TEXT "ZERO ON"
- DELAY 25
- COM: PUT COM 1 TEXT "ZERO OFF"
- DELAY 1000
- GOTO SCREEN main
  
- TITLE:::::::::: ":::::::::::::" ::::::::::::
- TITLE:::::::::: "MAIN RUN LOOP" ::::::::::::
- TITLE:::::::::: ":::::::::::::" ::::::::::::
*>SCREEN main
- PUT TEXT AT (1,4): "A-V-D   CHANGE ACCEL,VEL, AND DISTANCE"
- PUT TEXT AT (1,5): "UNITS   CHANGE UNITS"
- PUT TEXT AT (1,6): "RUN     PERFORM MOVES, VIEW STATUS"
- PUT LARGE TEXT AT (2,1): "SELECT A FUNCTION:"
- SOFTKEY (1) "A-V-D" GOTO SCREEN avdset
- SOFTKEY (3) "UNITS" GOTO SCREEN units
- SOFTKEY (5) " RUN" GOTO SCREEN runscr
- SOFTKEY (6) "EXIT" GOTO SCREEN exit
- SOFTKEY WAIT
  
- TITLE:::::::::: "SET ACCELERATION, VELOCITY AND DISTANCE" ::::::::::::
*>SCREEN QUICK avdset
- CLEAR SCREEN
- PUT TEXT AT (1,3): "ACCEL  CHANGE ACCELERATION"
- PUT TEXT AT (1,4): "VEL    CHANGE VELOCITY"
- PUT TEXT AT (1,5): "DIST   CHANGE DISTANCE"
- PUT TEXT AT (1,6): "PITCH  CHANGE SCREW PITCH"
- PUT TEXT AT (1,7): "DEFLT  RESTORE SYSTEM DEFAULTS"
- PUT LARGE TEXT AT (1,1): "MOTION PARAMETERS:  "
- SOFTKEY (1) "ACCEL" GOTO SCREEN accelset
- SOFTKEY (2) " VEL" GOTO SCREEN velset
- SOFTKEY (3) "DIST" GOTO SCREEN distset
- SOFTKEY (4) "PITCH" GOTO SCREEN pitchset
- SOFTKEY (5) "DEFLT" GOTO SCREEN defltscr
- SOFTKEY (6) "MAIN" GOTO SCREEN main
- SOFTKEY WAIT
  
- TITLE:::::::::: "SET UP ACCELERATION" ::::::::::::
*>SCREEN accelset
- PUT TEXT AT (1,2): "ACCELERATION IN "
- PUT TEXT AT (17,2): albl$
- PUT TEXT AT (1,4): "ENTER ACCELERATION :"
- PUT TEXT AT (1,7): "ENTER TO ACCEPT OR ENTER A NEW VALUE"
  ad& = ad& / ascale
- GET NUMBER ad& AT (30,4) USING "#######" DEFAULT ad&
  ad& = ad& * ascale
- COM: PUT COM 1 MIXED TEXT "ACC " NUMBER ad&
- DELAY 750
- GOTO SCREEN avdset
  
- TITLE:::::::::: "SET UP VELOCITY" ::::::::::::
*>SCREEN velset
- PUT TEXT AT (1,2): "VELOCITY IN "
- PUT TEXT AT (13,2): vlbl$
- PUT TEXT AT (1,4): "ENTER VELOCITY :"
- PUT TEXT AT (1,7): "ENTER TO ACCEPT OR ENTER A NEW VALUE"
  vd& = vd& / vscale
- GET NUMBER vd& AT (22,4) USING "#########" DEFAULT vd&
  vd& = vd& * vscale
- DELAY 750
- GOTO SCREEN avdset
  
- TITLE:::::::::: "SET UP DISTANCE" ::::::::::::
*>SCREEN distset
- PUT TEXT AT (1,2): "DISTANCE IN"
- PUT TEXT AT (1,4): "ENTER DISTANCE:"
- PUT TEXT AT (1,7): "ENTER TO ACCEPT OR ENTER A NEW VALUE"
- PUT TEXT AT (13,2): dlbl$
  dis& = dis& / dscale
- GET NUMBER dis& AT (18,4) USING "###########" DEFAULT dis&
  dis& = dis& * dscale
- DELAY 750
- GOTO SCREEN avdset
  
- TITLE:::::::::: "SET UP SCREW PITCH" ::::::::::::
*>SCREEN pitchset
- PUT TEXT AT (1,1): "Enter a screw pitch which will provide"
- PUT TEXT AT (1,2): "translation between motor rotation and"
- PUT TEXT AT (1,3): "linear travel."
- PUT TEXT AT (1,5): "ENTER SCREW PITCH:"
- PUT TEXT AT (1,7): "ENTER TO ACCEPT OR ENTER A NEW VALUE"
- GET NUMBER pitch AT (20,5) USING "##.###" DEFAULT pitch
- GOTO SCREEN units
  
*>SCREEN units
- PUT TEXT AT (2,4): "LINEAR MEASURE ASSUMES A        PITCH"
- PUT TEXT AT (2,5): "LEAD SCREW ON A LINEAR TRANSLATION"
- PUT TEXT AT (2,6): "DEVICE."
- PUT LARGE TEXT AT (1,1): "SELECT MOTION UNITS-"
- PUT NUMBER pitch AT (27,4) USING "##.###"
- SOFTKEY (1) "STEPS" GOTO SCREEN steps
- SOFTKEY (2) "MILS" GOTO SCREEN mils
- SOFTKEY (3) "INCH" GOTO SCREEN inch
- SOFTKEY (4) " MM" GOTO SCREEN mms
- SOFTKEY (5) " UM" GOTO SCREEN ums
- SOFTKEY (6) "EXIT" GOTO SCREEN main
- SOFTKEY WAIT
  
- TITLE:::::::::: "SCALE UNITS IN STEPS" ::::::::::::
*>SCREEN steps
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (9,2): "IN"
- PUT HUGE TEXT AT (3,2): "STEPS"
  dscale = 1
  dlbl$ = "STEPS"
  vscale = 68.27
  vlbl$ = "STEPS/SEC"
  ascale = 68.27
  albl$ = "STEPS/SEC^2"
- DELAY 1000
- GOTO SCREEN main
  
- TITLE:::::::::: "SCALE UNITS IN MILS" ::::::::::::
*>SCREEN mils
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (9,2): "IN"
- PUT HUGE TEXT AT (4,2): "MILS"
  dscale = onerev*pitch/1000
  dlbl$ = "MILS"
  vscale = pitch
  vlbl$ = "MILS/SEC"
  ascale = pitch
  albl$ = "MILS/SEC^2"
- DELAY 1000
- GOTO SCREEN main
  
- TITLE:::::::::: "SCALE UNITS IN INCHES" ::::::::::::
*>SCREEN inch
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (10,2): "IN"
- PUT HUGE TEXT AT (3,2): "INCHES"
  dscale = onerev*pitch
  dlbl$ = "INCHES"
  vscale = pitch
  vlbl$ = "INCHES/SEC"
  ascale = pitch
  albl$ = "INCHES/SEC^2"
- DELAY 1000
- GOTO SCREEN main
  
- TITLE:::::::::: "SCALE UNITS IN MILLIMETERS" ::::::::::::
*>SCREEN mms
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (10,2): "IN"
- PUT HUGE TEXT AT (1,2): "MILLIMETER"
  dscale = onerev*pitch/25.4
  dlbl$ = "MM"
  vscale = pitch*25.4
  vlbl$ = "MM/SEC"
  ascale = pitch*25.4
  albl$ = "MM/SEC^2"
- DELAY 1000
- GOTO SCREEN main
  
- TITLE:::::::::: "SCALE UNITS IN MICRONS" ::::::::::::
*>SCREEN ums
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (9,2): "IN"
- PUT HUGE TEXT AT (2,2): "MICRONS"
  dscale = onerev*pitch/25400
  dlbl$ = "MICRONS"
  vscale = pitch*25400
  vlbl$ = "MICRONS/SEC"
  ascale = pitch*25400
  albl$ = "MICRONS/SEC^2"
- DELAY 1000
- GOTO SCREEN main
  
- TITLE:::::::::: "RESTORE SYSTEM DEFAULTS" ::::::::::::
*>SCREEN defltscr
- PUT LARGE TEXT AT (2,1): "RESTORING DEFAULTS"
- PUT TEXT AT (2,4): "Velocity  :           1000"
- PUT TEXT AT (2,5): "Acceceleration :     15000"
- PUT TEXT AT (2,6): "Forward Direction:      CW"
- PUT TEXT AT (29,4): "STEPS/SEC"
- PUT TEXT AT (29,5): "STEPS/SEC^2"
- COM: PUT COM 1 TEXT "VDEFAULT = 1000"
- DELAY 25
- COM: PUT COM 1 TEXT "ACC 15000"
- DELAY 25
- COM: PUT COM 1 TEXT "DIR 1"
- DELAY 1500
  dir%=1
  dscale=1
  dlbl$="STEPS"
  vscale=68.27
  vd&=1000
  vlbl$="STEPS/MIN"
  ascale=1.14
  ad&=15000
  albl$="STEPS/SEC^2"
- GOTO SCREEN avdset
  
*>SCREEN pitchset
- PUT TEXT AT (1,1): "Enter a screw pitch which will provide"
- PUT TEXT AT (1,2): "translation between motor rotation and"
- PUT TEXT AT (1,3): "linear travel."
- PUT TEXT AT (1,5): "ENTER SCREW PITCH:"
- PUT TEXT AT (1,7): "ENTER TO ACCEPT OR ENTER A NEW VALUE"
- GET NUMBER pitch AT (20,5) USING "##.###" DEFAULT pitch
- GOTO SCREEN units
  
- TITLE:::::::::: "STATUS AND MOVE SYSTEM" ::::::::::::
*>SCREEN runscr
- PUT LARGE TEXT AT (1,1): "RUN BDS5 POSITIONER"
- PUT TEXT AT (1,3): "ROTAT  --   MOVE AT A CONSTANT VELOCITY"
- PUT TEXT AT (1,4): "STOP   --   STOP THE SERVO SPINNING"
- PUT TEXT AT (1,5): "MOVE   --   METERED MOVEMENT OF THE BDS5"
- PUT TEXT AT (1,6): "EDIT   --   EDIT CURRENT SETTINGS"
- PUT TEXT AT (1,7): "EXIT   --   EXIT TO MAIN MENU"
- SOFTKEY (1) " JOG" GOTO SCREEN rotate
- SOFTKEY (2) "STOP" GOTO SCREEN stopscr
- SOFTKEY (3) "MOVE" GOTO SCREEN metermov
- SOFTKEY (4) "EDIT" GOTO SCREEN editscr
- SOFTKEY (6) "EXIT" GOTO SCREEN main
- SOFTKEY WAIT
  
- TITLE:::::::::: "START MOTION" ::::::::::::
*>SCREEN QUICK rotate
- CLEAR SCREEN
- DELAY 50
- COM: PUT COM 1 MIXED TEXT "J " NUMBER vd&
- PUT LARGE TEXT AT (1,1): " MOTION HAS BEGUN   "
- PUT TEXT AT (1,4): "BDS5 moving at "
  vd& = vd& * vscale
- PUT NUMBER vd& AT (17,4) USING "##########"
  vd& = vd& / vscale
- PUT TEXT AT (28,4): vlbl$
- DELAY 750
- GOTO SCREEN runscr
  
- TITLE:::::::::: "STOP MOTION" ::::::::::::
*>SCREEN QUICK stopscr
- CLEAR GRAPHICS SCREEN
- CLEAR SCREEN
- PUT LARGE TEXT AT (1,2): "  STOPPING MOTION   "
- COM: PUT COM 1 TEXT "J 0"
- DELAY 500
- GOTO SCREEN runscr
  
*>SCREEN metermov
- PUT LARGE TEXT AT (5,1): "MOVEMENT FOR"
- PUT LARGE TEXT AT (1,2): "THE BDS5 POSITIONER"
- PUT TEXT AT (1,5): "MOVE DIST    :"
- PUT TEXT AT (1,6): "VELOCITY     :"
  dis& = dis& * dscale
- PUT NUMBER dis& AT (17,5) USING "##########"
  dis& = dis& / dscale
  vd& = vd& * vscale
- PUT NUMBER vd& AT (18,6) USING "#########"
  vd& = vd& / vscale
- PUT TEXT AT (28,5): dlbl$
- PUT TEXT AT (28,6): vlbl$
- LABEL doneedit
- SOFTKEY (1) " INC" GOTO SCREEN movescr
- SOFTKEY (2) " ABS" GOTO SCREEN movpos
- SOFTKEY (4) "EDIT" GOTO SCREEN meteredt
- SOFTKEY (6) "EXIT" GOTO SCREEN runscr
- SOFTKEY WAIT
- LABEL meteredt
  dis& = dis& * dscale
- GET NUMBER dis& AT (17,5) USING "##########" DEFAULT dis&
  dis& = dis& / dscale
  vd& = vd& * vscale
- GET NUMBER vd& AT (18,6) USING "#########" DEFAULT vd&
  vd& = vd& / vscale
- GOTO LABEL doneedit
- TITLE:::::::::: "EDIT MOVE DATA" ::::::::::::
*>SCREEN QUICK editscr
- PUT LARGE TEXT AT (1,1): "  EDIT-PRESS ENTER  "
- CLEAR SCREEN
- PUT TEXT AT (1,4): "MOVE DIST:"
- PUT TEXT AT (2,5): "VELOCITY:"
- PUT TEXT AT (5,6): "ACCEL:"
- PUT TEXT AT (1,7): "DIRECTION:"
  dis& = dis& * dscale
- PUT NUMBER dis& AT (14,4) USING "########"
  dis& = dis& / dscale
- PUT NUMBER vd& AT (14,5) USING "########"
- PUT NUMBER ad& AT (14,6) USING "########"
- PUT NUMBER dir% AT (21,7) USING "#"
- PUT TEXT AT (23,4): dlbl$
- PUT TEXT AT (23,5): vlbl$
- PUT TEXT AT (23,6): albl$
- PUT TEXT AT (23,7): "(0=CCW, 1=CW)"
  dis& = dis& * dscale
- GET NUMBER dis& AT (14,4) USING "########" DEFAULT dis&
  dis& = dis& / dscale
  vd& = vd& * vscale
- GET NUMBER vd& AT (14,5) USING "########" DEFAULT vd&
  vd& = vd& / vscale
  ad& = ad& * ascale
- GET NUMBER ad& AT (14,6) USING "########" DEFAULT ad&
  ad& = ad& / ascale
- GET NUMBER dir% AT (21,7) USING "#" DEFAULT dir%
- COM: PUT COM 1 MIXED TEXT "DIR " NUMBER dir%
- GOTO SCREEN runscr
  
*>SCREEN movedist
- PUT TEXT AT (1,3): "MOVE  -- MOVE DISTANCE JUST ENTERED"
- PUT TEXT AT (1,5): "POSIT -- MOVE TO POSITION JUST ENTERED"
- SOFTKEY WAIT
  
*>SCREEN QUICK movescr
- COM: PUT COM 1 MIXED TEXT "VDEFAULT = " NUMBER vd&
- DELAY 25
- COM: PUT COM 1 MIXED TEXT "MI " NUMBER dis&
- DELAY 25
- COM: PUT COM 1 TEXT "VDEFAULT = 1000"
- DELAY 25
- DELAY 500
- GOTO SCREEN metermov
  
*>SCREEN movpos
- PUT TEXT AT (2,1): "THE BDS5 IS MOVED TO THE END POSITION"
- PUT TEXT AT (11,2): "GIVEN BY THE USER"
- PUT TEXT AT (1,4): "END POSITION SPECIFIED :"
- PUT TEXT AT (1,5): "END POSITION OF BDS5   :"
- PUT NUMBER endpos& AT (29,4) USING "####"
- COM: PUT COM 1 MIXED TEXT "VDEFAULT = " NUMBER vd&
- DELAY 25
- COM: PUT COM 1 MIXED TEXT "MA " NUMBER endpos&
- DELAY 25
- COM: PUT COM 1 TEXT "VDEFAULT = 1000"
- DELAY 3500
- GOSUB LABEL position
- SOFTKEY (6) "MAIN" GOTO SCREEN main
- SOFTKEY WAIT
  
- LABEL position
- COM: PUT COM 1 TEXT "P PRD" NUMERIC RESPONSE stopped&
- PUT NUMBER stopped& AT (29,5) USING "####"
- DELAY 1500
- RETURN
  
- LABEL helpsys
- HELP: CLEAR HELP SCREEN
- HELP: PUT HELP TEXT AT 1 : "This program demonstrates the use of"
- HELP: PUT HELP TEXT AT 2 : "the MODEL 1000 and the INDUSTRIAL DRIVES"
- HELP: PUT HELP TEXT AT 3 : "BDS5 POSITIONER.  You should first"
- HELP: PUT HELP TEXT AT 4 : "hook up the MODEL 1000 to the motor"
- HELP: PUT HELP TEXT AT 5 : "drive by following the instructions in"
- HELP: PUT HELP TEXT AT 6 : "Section 5.6.1 of the MODEL 1000 manual."
- HELP: PUT HELP TEXT AT 7 : "COM 1 on the MODEL 1000 is connected to"
- HELP: PUT HELP TEXT AT 8 : "----- PRESS ANY KEY FOR MORE HELP -----"
- HELP: DISPLAY HELP TEXT AND WAIT FOR KEY
- HELP: CLEAR HELP SCREEN
- HELP: PUT HELP TEXT AT 1 : "the RS232 port on the positioner.  A"
- HELP: PUT HELP TEXT AT 2 : "cable is available from EASON"
- HELP: PUT HELP TEXT AT 3 : "TECHNOLOGY.  Please call us if you need"
- HELP: PUT HELP TEXT AT 4 : "further assistance."
- HELP: PUT HELP TEXT AT 5 : "          (707)-433-2854"
- HELP: PUT HELP TEXT AT 6 : "          (707)-433-3706 (FAX)"
- HELP: PUT HELP TEXT AT 8 : "--PRESS ANY KEY TO RESUME THE PROGRAM--"
- HELP: DISPLAY HELP TEXT AND WAIT FOR KEY
- HOT KEY (10) RESUME
- RETURN
  
- TITLE:::::::::: "RETURN TO BASIC" ::::::::::::
*>SCREEN exit
- PUT LARGE TEXT AT (1,1): "THANK YOU FOR USING"
- PUT LARGE TEXT AT (8,2): "EASON"
- PUT LARGE TEXT AT (6,3): "TECHNOLOGY"
  pos 40,7
- DELAY 2500
- COM: PUT COM 1 TEXT "DIS"
- DELAY 5000
- CLEAR GRAPHICS SCREEN
- CLEAR SCREEN
  END
- END OF PSEUDOCODE